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    APPARATUS FOR MEASURING DISTAL FORCES ON A WORKING INSTRUMENT
    1.
    发明申请
    APPARATUS FOR MEASURING DISTAL FORCES ON A WORKING INSTRUMENT 有权
    用于测量工作仪器上的距离的装置

    公开(公告)号：US20070233044A1

    公开(公告)日：2007-10-04

    申请号：US11678001

    申请日：2007-02-22

    申请人： Daniel Wallace ,  Gregory Stahler ,  Alex Goldenberg ,  Gene Reis ,  Robert Younge ,  Mathew Clopp ,  David Camarillo ,  Toby King

    发明人： Daniel Wallace ,  Gregory Stahler ,  Alex Goldenberg ,  Gene Reis ,  Robert Younge ,  Mathew Clopp ,  David Camarillo ,  Toby King

    IPC分类号： A61M25/08

    CPC分类号： A61M25/01 ,  A61B5/6885 ,  A61B17/3403 ,  A61B17/3476 ,  A61B2017/00243 ,  A61B2017/003 ,  A61B2017/00477 ,  A61B2034/301 ,  A61B2090/064 ,  A61B2090/065

    摘要： A robotic catheter manipulator includes a guide catheter including proximal and distal ends and lumen extending there through. A flexible bellows is secured at one end to the proximal end of the guide catheter and at the other end to a seal configured to receive a working catheter. In a loaded state, the working catheter is fixed relative to the seal. A ditherer is operatively connected to the seal for dithering the working catheter relative to the guide catheter when placed therein. The robotic catheter manipulator includes at least one force sensor for measuring the force applied to the working catheter by the ditherer. Force measurements may be translated into an estimated force that is experienced at the distal end of the working catheter which may then be displayed to the physician via a monitor or display.

    摘要翻译： 机器人导管操纵器包括导管，其包括近端和远端以及在其延伸的内腔。 柔性波纹管在一端固定到引导导管的近端，另一端固定在被构造成接收工作导管的密封件上。 在加载状态下，工作导管相对于密封件固定。 一个搅拌器可操作地连接到该密封件上，用于当将工作导管放置在其中时相对于导向导管进行高频抖动。 机器人导管操纵器包括至少一个力传感器，用于测量施加在工作导管上的力。 力测量可以被转换成在工作导管的远端处经历的估计力，然后可以经由监视器或显示器将其显示给医师。

    METHOD OF SENSING FORCES ON A WORKING INSTRUMENT
    2.
    发明申请
    METHOD OF SENSING FORCES ON A WORKING INSTRUMENT 有权
    传感器在工作仪器上的方法

    公开(公告)号：US20070197939A1

    公开(公告)日：2007-08-23

    申请号：US11678016

    申请日：2007-02-22

    申请人： Daniel Wallace ,  Gregory Stahler ,  Alex Goldenberg ,  Gene Reis ,  Robert Younge ,  Mathew Clopp ,  David Camarillo ,  Toby King

    发明人： Daniel Wallace ,  Gregory Stahler ,  Alex Goldenberg ,  Gene Reis ,  Robert Younge ,  Mathew Clopp ,  David Camarillo ,  Toby King

    IPC分类号： A61B5/103

    CPC分类号： A61M25/01 ,  A61B5/6885 ,  A61B17/3403 ,  A61B17/3476 ,  A61B2017/00243 ,  A61B2017/003 ,  A61B2017/00477 ,  A61B2034/301 ,  A61B2090/064 ,  A61B2090/065

    摘要： A method for estimating the force on a distal end of a working catheter includes positioning a portion of a robotically controlled guide catheter and working catheter into a body lumen wherein a distal end of the working catheter projects distally from a distal end of the guide catheter. The working catheter and guide catheter are dithered with respect to one another using a dithering device operatively connected to a proximal portion of the working catheter. The coupling may occur directly to the working catheter or via a seal such as a Touhy seal. The force experienced by the working catheter at a proximal region is measured through at least one dithering cycle. The force at the distal end of the working catheter is then estimated based on the measured force at the proximal region. The estimated force may be displayed to a physician on, for example, a monitor.

    摘要翻译： 用于估计工作导管的远端上的力的方法包括将机器人控制的引导导管和工作导管的一部分定位到体腔中，其中工作导管的远端从导向导管的远端远端突出。 工作导管和引导导管相对于彼此使用可操作地连接到工作导管的近端部分的抖动装置进行抖动。 联轴器可以直接发生在工作导管上，或通过诸如Touhy密封件的密封件。 通过至少一个抖动周期测量由近端区域上的工作导管所经受的力。 然后基于在近端区域处测量的力来估计工作导管远端处的力。 估计的力可以在例如监视器上向医生显示。

    Sterile interface apparatus
    8.
    发明授权
    Sterile interface apparatus 有权
    无菌接口装置

    公开(公告)号：US08720448B2

    公开(公告)日：2014-05-13

    申请号：US12614349

    申请日：2009-11-06

    申请人： Gene Reis ,  Gregory J. Stahler ,  Gregory Francis Hirth ,  Enrique Romo

    发明人： Gene Reis ,  Gregory J. Stahler ,  Gregory Francis Hirth ,  Enrique Romo

    IPC分类号： A61B19/08

    CPC分类号： A61B46/10 ,  A61B34/30 ,  A61B2017/00477

    摘要： A robotic surgical system configured to perform minimally invasive surgical procedures. In one variation, this robotic surgical system includes an instrument driver configured to steer an elongate instrument of an instrument assembly in one or more degrees of motion. A drape is disposed between the instrument driver and the instrument assembly. A drive interface apparatus is operatively coupled to the drape. The drape and drive interface apparatus may form a fluid barrier between the instrument driver and the instrument assembly. Drive interface apparatus may be disposed on a top surface of the instrument driver and on a bottom surface of the instrument assembly. The drive interface apparatus may transmit torque from the instrument driver to the instrument assembly. The input torque drives a pulley in the instrument assembly that operates one or more control wires to steer an elongate instrument of the instrument assembly for performing minimally invasive surgical procedures.

    摘要翻译： 构造成执行微创外科手术的机器人手术系统。 在一个变型中，该机器人手术系统包括被配置为以一个或多个运动程度转向仪器组件的细长仪器的仪器驱动器。 在仪器驱动器和仪器组件之间设置悬垂布置。 驱动器接口装置可操作地联接到悬垂。 悬垂和驱动接口装置可以在仪器驱动器和仪器组件之间形成流体屏障。 驱动接口装置可以设置在仪器驱动器的顶表面上和仪器组件的底表面上。 驱动接口装置可以将仪器驱动器的扭矩传递到仪器组件。 输入扭矩驱动仪器组件中的滑轮，其操作一个或多个控制线以引导器械组件的细长仪器，以执行微创外科手术。

    Modular interfaces and drive actuation through barrier
    9.
    发明授权
    Modular interfaces and drive actuation through barrier 有权
    模块化接口和驱动器驱动通过屏障

    公开(公告)号：US08602031B2

    公开(公告)日：2013-12-10

    申请号：US12352551

    申请日：2009-01-12

    申请人： Gene Reis ,  Gregory Francis Hirth ,  Enrique Romo

    发明人： Gene Reis ,  Gregory Francis Hirth ,  Enrique Romo

    IPC分类号： A61B19/08 ,  A61B19/00

    CPC分类号： A61B19/081 ,  A61B34/30 ,  A61B46/10 ,  A61B46/23 ,  A61B90/40 ,  A61B2090/0813 ,  Y10T74/19967

    摘要： The invention relates generally to robotically controlled systems, such as medical robotic systems. In one variation, a robotic catheter system is configured with a sterile barrier capable for transmitting a rotary force from a drive system on one side of the barrier to surgical tool on the other side of the sterile barrier for performing minimally invasive diagnostic and therapeutic procedures. Modularized drive systems for robotics arc also disclosed herein.

    摘要翻译： 本发明一般涉及机器人控制的系统，例如医疗机器人系统。 在一个实施例中，机器人导管系统配置有无菌屏障，其能够将阻力的一侧上的驱动系统的旋转力传递到无菌屏障的另一侧上的手术工具，以执行微创诊断和治疗过程。 本文还公开了用于机器人的模块化驱动系统。

    Apparatus systems and methods for flushing gas from catheter of a robotic catheter system
    10.
    发明授权
    Apparatus systems and methods for flushing gas from catheter of a robotic catheter system 有权
    用于从机器人导管系统的导管冲洗气体的装置系统和方法

    公开(公告)号：US08377077B2

    公开(公告)日：2013-02-19

    申请号：US13039181

    申请日：2011-03-02

    申请人： Gene Reis

    发明人： Gene Reis

    IPC分类号： A61B19/00

    CPC分类号： A61B19/2203 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/741

    摘要： Apparatus, systems and methods for flushing a lumen of a catheter instrument to reduce or eliminate bubbles within the lumen. An interface valve is adapted for attachment to a proximal end of the catheter instrument and can receive a working instrument for insertion into the he catheter instrument lumen. A fluid supply line and purge lines are coupled to the interface valve and in fluid communication with at least a portion of the interface valve lumen. Flow of fluid (e.g. saline and a gas such as bubbles) through purge lines is controllable using clamps such that fluid flowing into the interface valve lumen can be manipulated to flow in different directions through different portions of the interface valve lumen for evacuation through different purge lines, thus allowing for purging of forward and backward flows to remove gas or bubbles from the catheter instrument lumen.

    摘要翻译： 用于冲洗导管器械的内腔以减少或消除内腔内的气泡的装置，系统和方法。 接口阀适于附接到导管器械的近端，并且可以接收用于插入到导管器械管腔中的工作器械。 流体供应管线和清洗管线联接到界面阀并与接口阀腔的至少一部分流体连通。 可以使用夹子来控制流体（例如盐水和气体，例如气泡）通过清洗管线，使得流入界面阀腔的流体可以被操纵以不同方向流过界面阀腔的不同部分，以通过不同吹扫排出 从而允许向前和向后的流动的吹扫以从导管仪器管腔去除气体或气泡。